Development of novel self-oscillating gel actuator for achievement of chemical robot

Satoshi Nakamaru, Shingo Maeda, Yusuke Hara, Shuji Hashimoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 Citations (Scopus)

Abstract

In our previous studies, we succeeded in construction self-oscillating gel actuator such as a self-walking gel and a dynamic motion of a gel actuator. However, the speed of the swelling - deswelling self-oscillation is too slow in order to realize practical chemical robot. In this study, we succeeded in the wide-range control of the period for the swelling - deswelling self-oscillation of a novel polymer gel by selection of the initial concentration of the Belouzov-Zhabotinsky (BZ) substrates and the temperature. The novel polymer gel was composed of a non-thermoresponsive and biocompatible poly-vinylpyrrolidone (PVP) main chain covalently-bonded to the ruthenium catalyst for the BZ reaction. Moreover, we clarified the influence of the initial concentration of the BZ substrates and the temperature on the period and the self-oscillating behavior. By optimizing the initial concentration of the BZ substrates, we cause the swelling - deswelling self-oscillation in 0.5 Hz. The maximum frequency (0.5Hz) of the novel gel was 20 times higher than that of the conventional-type self-oscillating gel. Moreover, we showed that the displacement of the self-oscillation for the gel has a trade-off relationship against the frequency of the self-oscillation.

Original languageEnglish
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages4319-4324
Number of pages6
DOIs
Publication statusPublished - 2009 Dec 11
Externally publishedYes
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO
Duration: 2009 Oct 112009 Oct 15

Other

Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
CitySt. Louis, MO
Period09/10/1109/10/15

Fingerprint

Actuators
Gels
Robots
Swelling
Substrates
Polymers
Ruthenium
Temperature
Catalysts

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

Cite this

Nakamaru, S., Maeda, S., Hara, Y., & Hashimoto, S. (2009). Development of novel self-oscillating gel actuator for achievement of chemical robot. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (pp. 4319-4324). [5354649] https://doi.org/10.1109/IROS.2009.5354649

Development of novel self-oscillating gel actuator for achievement of chemical robot. / Nakamaru, Satoshi; Maeda, Shingo; Hara, Yusuke; Hashimoto, Shuji.

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 4319-4324 5354649.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Nakamaru, S, Maeda, S, Hara, Y & Hashimoto, S 2009, Development of novel self-oscillating gel actuator for achievement of chemical robot. in 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009., 5354649, pp. 4319-4324, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, St. Louis, MO, 09/10/11. https://doi.org/10.1109/IROS.2009.5354649
Nakamaru S, Maeda S, Hara Y, Hashimoto S. Development of novel self-oscillating gel actuator for achievement of chemical robot. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 4319-4324. 5354649 https://doi.org/10.1109/IROS.2009.5354649
Nakamaru, Satoshi ; Maeda, Shingo ; Hara, Yusuke ; Hashimoto, Shuji. / Development of novel self-oscillating gel actuator for achievement of chemical robot. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. pp. 4319-4324
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